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<div class="title">input_data_processing.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_APPS_IN_HAND_SCANNER_INPUT_DATA_PROCESSING_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_APPS_IN_HAND_SCANNER_INPUT_DATA_PROCESSING_H</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/eigen.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/common_types.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/utils.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">class</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">class </span>IntegralImageNormalEstimation;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="comment">// InputDataProcessing</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">namespace </span>ihs</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html">   71</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html">InputDataProcessing</a></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a>              <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZRGBA&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZRGBA</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a>              <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">PointXYZRGBNormal</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZRGBNormal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZRGBNormal</a>;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a13868e8f1919b1702084716bd42aaeb2">   86</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a13868e8f1919b1702084716bd42aaeb2">InputDataProcessing</a> ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a928f1ebba44891e3c197a4e357221b05">   96</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a928f1ebba44891e3c197a4e357221b05">segment</a> (<span class="keyword">const</span> CloudXYZRGBAConstPtr&amp; cloud_in,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                 CloudXYZRGBNormalPtr&amp;       cloud_out,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                 CloudXYZRGBNormalPtr&amp;       cloud_discarded) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a4f41df3c1efc5d0ce827e9e5fb6e757c">  107</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a4f41df3c1efc5d0ce827e9e5fb6e757c">calculateNormals</a> (<span class="keyword">const</span> CloudXYZRGBAConstPtr&amp; cloud_in,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;                          CloudXYZRGBNormalPtr&amp;       cloud_out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a29db2ce953251404e5f5f32b7f7eab05">  112</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a29db2ce953251404e5f5f32b7f7eab05">setXMin</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> x_min) {<span class="keywordflow">if</span> (x_min &lt; x_max_) x_min_ = x_min;}</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setXMax (<span class="keyword">const</span> <span class="keywordtype">float</span> x_max) {<span class="keywordflow">if</span> (x_max &gt; x_min_) x_max_ = x_max;}</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setYMin (<span class="keyword">const</span> <span class="keywordtype">float</span> y_min) {<span class="keywordflow">if</span> (y_min &lt; y_max_) y_min_ = y_min;}</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setYMax (<span class="keyword">const</span> <span class="keywordtype">float</span> y_max) {<span class="keywordflow">if</span> (y_max &gt; y_min_) y_max_ = y_max;}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setZMin (<span class="keyword">const</span> <span class="keywordtype">float</span> z_min) {<span class="keywordflow">if</span> (z_min &lt; z_max_) z_min_ = z_min;}</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setZMax (<span class="keyword">const</span> <span class="keywordtype">float</span> z_max) {<span class="keywordflow">if</span> (z_max &gt; z_min_) z_max_ = z_max;}</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getXMin ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (x_min_);}</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getXMax ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (x_max_);}</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getYMin ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (y_min_);}</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getYMax ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (y_max_);}</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getZMin ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (z_min_);}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getZMax ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (z_max_);}</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#abb02db7090e6352e3064bcf4bb138266">  131</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#abb02db7090e6352e3064bcf4bb138266">setHMin</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> h_min) {h_min_ = pcl::ihs::clamp (h_min, 0.f, 360.f);}</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setHMax (<span class="keyword">const</span> <span class="keywordtype">float</span> h_max) {h_max_ = pcl::ihs::clamp (h_max, 0.f, 360.f);}</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setSMin (<span class="keyword">const</span> <span class="keywordtype">float</span> s_min) {s_min_ = pcl::ihs::clamp (s_min, 0.f,   1.f);}</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setSMax (<span class="keyword">const</span> <span class="keywordtype">float</span> s_max) {s_max_ = pcl::ihs::clamp (s_max, 0.f,   1.f);}</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setVMin (<span class="keyword">const</span> <span class="keywordtype">float</span> v_min) {v_min_ = pcl::ihs::clamp (v_min, 0.f,   1.f);}</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> setVMax (<span class="keyword">const</span> <span class="keywordtype">float</span> v_max) {v_max_ = pcl::ihs::clamp (v_max, 0.f,   1.f);}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getHMin ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (h_min_);}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getHMax ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (h_max_);}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getSMin ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (s_min_);}</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getSMax ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (s_max_);}</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getVMin ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (v_min_);}</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> getVMax ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (v_max_);}</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a0117538a75ff24c6be793714429735bd">  148</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a0117538a75ff24c6be793714429735bd">setColorSegmentationInverted</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> hsv_inverted) {hsv_inverted_ = hsv_inverted;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> getColorSegmentationInverted ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (hsv_inverted_);}</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a7d30dc8cc838dd86a539dfd87527e1ea">  154</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a7d30dc8cc838dd86a539dfd87527e1ea">setColorSegmentationEnabled</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> hsv_enabled) {hsv_enabled_ = hsv_enabled;}</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span> getColorSegmentationEnabled ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (hsv_enabled_);}</div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a5b410c884d5434084f23ad955440ea75">  160</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a5b410c884d5434084f23ad955440ea75">setXYZErodeSize</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size) {size_erode_ = size;}</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getXYZErodeSize ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (size_erode_);}</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a3394e3374c1b2480b0019ccd1e0c0400">  166</a></span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a3394e3374c1b2480b0019ccd1e0c0400">setHSVDilateSize</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size) {size_dilate_ = size;}</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getHSVDilateSize ()<span class="keyword"> const </span>{<span class="keywordflow">return</span> (size_dilate_);}</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_normal.html">pcl::Normal</a>                            <a class="code" href="structpcl_1_1_normal.html">Normal</a>;</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;Normal&gt;</a>               CloudNormals;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;CloudNormals&gt;       CloudNormalsPtr;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const CloudNormals&gt; CloudNormalsConstPtr;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation &lt;PointXYZRGBA, Normal&gt;</a> <a class="code" href="classpcl_1_1_normal_estimation.html">NormalEstimation</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;NormalEstimation&gt;                      NormalEstimationPtr;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const NormalEstimation&gt;                NormalEstimationConstPtr;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keyword">typedef</span> Eigen::Matrix &lt;bool, Eigen::Dynamic, Eigen::Dynamic&gt; MatrixXb;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keyword">typedef</span> Eigen::MatrixXi                                      MatrixXi;</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a94ceeb19b74e764140232dc59e6674e0">  188</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a94ceeb19b74e764140232dc59e6674e0">erode</a> (MatrixXb&amp; mask, <span class="keyword">const</span> <span class="keywordtype">int</span> k) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a68d54e6a932b034fb1d05442f65c68f8">  194</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a68d54e6a932b034fb1d05442f65c68f8">dilate</a> (MatrixXb&amp; mask, <span class="keyword">const</span> <span class="keywordtype">int</span> k) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        MatrixXi</div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#ac51e8539949dc96b5c7b55625d7a52cc">  203</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#ac51e8539949dc96b5c7b55625d7a52cc">manhattan</a> (<span class="keyword">const</span> MatrixXb&amp; mat, <span class="keyword">const</span> <span class="keywordtype">bool</span> comp) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_input_data_processing.html#a5482ad53d424321ff117f0b805fbbfab">  207</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_input_data_processing.html#a5482ad53d424321ff117f0b805fbbfab">RGBToHSV</a> (<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> r,</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> g,</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;                  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> b,</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;                  <span class="keywordtype">float</span>&amp;              h,</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;                  <span class="keywordtype">float</span>&amp;              s,</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                  <span class="keywordtype">float</span>&amp;              v) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="comment">// Members</span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        NormalEstimationPtr normal_estimation_;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">float</span> x_min_;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordtype">float</span> x_max_;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">float</span> y_min_;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordtype">float</span> y_max_;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordtype">float</span> z_min_;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordtype">float</span> z_max_;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="keywordtype">float</span> h_min_;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordtype">float</span> h_max_;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordtype">float</span> s_min_;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        <span class="keywordtype">float</span> s_max_;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="keywordtype">float</span> v_min_;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        <span class="keywordtype">float</span> v_max_;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <span class="keywordtype">bool</span> hsv_inverted_;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        <span class="keywordtype">bool</span> hsv_enabled_;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size_dilate_;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size_erode_;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    };</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;  } <span class="comment">// End namespace ihs</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_APPS_IN_HAND_SCANNER_INPUT_DATA_PROCESSING_H</span></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_normal_estimation.html">pcl::NormalEstimation</a></div><div class="ttdoc">NormalEstimation estimates local surface properties (surface normals and curvatures)at each 3D point....</div><div class="ttdef"><b>Definition:</b> normal_3d.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html">pcl::ihs::InputDataProcessing</a></div><div class="ttdoc">Bundles methods that are applied to the input data from the sensor.</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a0117538a75ff24c6be793714429735bd"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a0117538a75ff24c6be793714429735bd">pcl::ihs::InputDataProcessing::setColorSegmentationInverted</a></div><div class="ttdeci">void setColorSegmentationInverted(const bool hsv_inverted)</div><div class="ttdoc">If true the color values inside of H - S - V min / max are accepted instead of discarded.</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a13868e8f1919b1702084716bd42aaeb2"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a13868e8f1919b1702084716bd42aaeb2">pcl::ihs::InputDataProcessing::InputDataProcessing</a></div><div class="ttdeci">InputDataProcessing()</div><div class="ttdoc">Constructor</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a29db2ce953251404e5f5f32b7f7eab05"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a29db2ce953251404e5f5f32b7f7eab05">pcl::ihs::InputDataProcessing::setXMin</a></div><div class="ttdeci">void setXMin(const float x_min)</div><div class="ttdoc">Points outside of X - Y - Z - min / max are discarded. The unit is cm. The min values must be smaller...</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a3394e3374c1b2480b0019ccd1e0c0400"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a3394e3374c1b2480b0019ccd1e0c0400">pcl::ihs::InputDataProcessing::setHSVDilateSize</a></div><div class="ttdeci">void setHSVDilateSize(const unsigned int size)</div><div class="ttdoc">The HSV mask is dilated with a kernel of this size.</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a4f41df3c1efc5d0ce827e9e5fb6e757c"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a4f41df3c1efc5d0ce827e9e5fb6e757c">pcl::ihs::InputDataProcessing::calculateNormals</a></div><div class="ttdeci">bool calculateNormals(const CloudXYZRGBAConstPtr &amp;cloud_in, CloudXYZRGBNormalPtr &amp;cloud_out) const</div><div class="ttdoc">Calculate the normals of the input cloud.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a5482ad53d424321ff117f0b805fbbfab"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a5482ad53d424321ff117f0b805fbbfab">pcl::ihs::InputDataProcessing::RGBToHSV</a></div><div class="ttdeci">void RGBToHSV(const unsigned char r, const unsigned char g, const unsigned char b, float &amp;h, float &amp;s, float &amp;v) const</div><div class="ttdoc">Conversion from the RGB to HSV color space.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a5b410c884d5434084f23ad955440ea75"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a5b410c884d5434084f23ad955440ea75">pcl::ihs::InputDataProcessing::setXYZErodeSize</a></div><div class="ttdeci">void setXYZErodeSize(const unsigned int size)</div><div class="ttdoc">The XYZ mask is eroded with a kernel of this size.</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a68d54e6a932b034fb1d05442f65c68f8"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a68d54e6a932b034fb1d05442f65c68f8">pcl::ihs::InputDataProcessing::dilate</a></div><div class="ttdeci">void dilate(MatrixXb &amp;mask, const int k) const</div><div class="ttdoc">Dilates the input mask k times with a diamond shaped structuring element.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a7d30dc8cc838dd86a539dfd87527e1ea"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a7d30dc8cc838dd86a539dfd87527e1ea">pcl::ihs::InputDataProcessing::setColorSegmentationEnabled</a></div><div class="ttdeci">void setColorSegmentationEnabled(const bool hsv_enabled)</div><div class="ttdoc">Enable / disable the color segmentation.</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:154</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a928f1ebba44891e3c197a4e357221b05"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a928f1ebba44891e3c197a4e357221b05">pcl::ihs::InputDataProcessing::segment</a></div><div class="ttdeci">bool segment(const CloudXYZRGBAConstPtr &amp;cloud_in, CloudXYZRGBNormalPtr &amp;cloud_out, CloudXYZRGBNormalPtr &amp;cloud_discarded) const</div><div class="ttdoc">Apply the segmentation on the input cloud (XYZ and HSV).</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_a94ceeb19b74e764140232dc59e6674e0"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#a94ceeb19b74e764140232dc59e6674e0">pcl::ihs::InputDataProcessing::erode</a></div><div class="ttdeci">void erode(MatrixXb &amp;mask, const int k) const</div><div class="ttdoc">Erodes the input mask k times with a diamond shaped structuring element.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_abb02db7090e6352e3064bcf4bb138266"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#abb02db7090e6352e3064bcf4bb138266">pcl::ihs::InputDataProcessing::setHMin</a></div><div class="ttdeci">void setHMin(const float h_min)</div><div class="ttdoc">Simple color segmentation in the HSV color space. Points inside of H - S - V min / max are discarded....</div><div class="ttdef"><b>Definition:</b> input_data_processing.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_input_data_processing_html_ac51e8539949dc96b5c7b55625d7a52cc"><div class="ttname"><a href="classpcl_1_1ihs_1_1_input_data_processing.html#ac51e8539949dc96b5c7b55625d7a52cc">pcl::ihs::InputDataProcessing::manhattan</a></div><div class="ttdeci">MatrixXi manhattan(const MatrixXb &amp;mat, const bool comp) const</div><div class="ttdoc">Calculates the manhattan distance map for the input matrix.</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_normal_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:926</div></div>
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